When you have orc camps available to attack you will see an orange "!" on the orc icon located on the bottom menu bar. Tapping on this will take you to the map showing which camps you can attack.

Tap on the camp you wish to attack to see the level of the camp, the orcs defending power, how many more times you can attack it before it increased in level and the different kinds of loot available from that camp.

Tap on the view button to move to the attack screen. Here you can choose which hero to use and what troops to send. Please note that your strongest troops will automatically be chosen first.

The green/red bar shows the difference between your attack power and the defending power of the orcs. Your army must have more power than the orcs in order to launch an attack. The more red shown on the bar, the more likely you are to lose troops when attacking. To get a better result, try training stronger troops or upgrading your keep to allow you to send more troops.